PRELIMINARY - NO-MOTION INSPECTION CANDIDATE - NOT APPROVED FOR CONNECTION, POWERED TESTING, MOTION, OR ENERGIZATION

Guard the output. Read one ID. Send no motion.

Four HR-30 actuator candidates are covered by three fixture sizes derived from the exact manufacturer STEP envelopes. Every station is body-restrained, horn-free and enclosed above the native +Z output.

Still not permission to connect

The CAD, software and control-table map are engineering candidates. Print quality, received fit, guard retention, approved SDK environment, electrical review and a separately signed connection procedure remain open.

Interactive guarded lineup

lineup STEP · fixture register · dimensions · parts

Physical boundary

No horn or body link

The fixture holds only the actuator body. The output cannot be attached to the humanoid during this inspection.

Closed output roof

The guard roof remains 10 mm above the vendor bounding box and cannot be removed while the station is connected.

Separate cable exit

The rear exit is below the guarded output plane. Side vents preserve airflow while preventing direct top access.

ModelBusFixtureOutputStatus
XH540-W270-RRS-485 X4P540+Z fully guardedreceived fit required
XM540-W270-RRS-485 X4P540+Z fully guardedreceived fit required
XM430-W350-RRS-485 X4PX430+Z fully guardedreceived fit required
XC330-T288-TTTL X3PXC330+Z fully guardedreceived fit required

Read-only inspector

Python source · offline test · nine-field register · primary sources

Dry run: python hr30_read_only_inspector.py --port COM5 --baud 57600 --id 1

Hardware execution additionally requires --execute-read-only. The program accepts one explicit ID from 0–252, rejects broadcast/reserved IDs, never scans, and exposes only ping plus one- and two-byte read calls. There is no device-write, reboot, reset, firmware, goal, torque-enable, Sync Write or Bulk Write call path.